CN215642301U - Communication system and vehicle - Google Patents
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- CN215642301U CN215642301U CN202121802518.9U CN202121802518U CN215642301U CN 215642301 U CN215642301 U CN 215642301U CN 202121802518 U CN202121802518 U CN 202121802518U CN 215642301 U CN215642301 U CN 215642301U
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Abstract
The utility model provides a communication system and a vehicle. A communication system includes: the system comprises a control node, a first CAN bus, a second communication cable and N network nodes. The control node and each network node are connected to the first CAN bus; each network node is connected in series through a second communication cable, and the control node is connected with a first network node and a last network node in the N network nodes which are connected in series through the second communication cable to form a closed second communication link; if a communication fault occurs in a first CAN bus between an Mth network node and an Nth network node in the N network nodes, the control node communicates with any one of the Mth +1 network node and the Nth network node through a second communication link, and other network nodes CAN communicate through the first CAN bus. The utility model ensures that each network node and the control node can smoothly communicate with each other.
Description
Technical Field
The utility model relates to a vehicle engineering technology, in particular to a communication system and a vehicle.
Background
A control node in a vehicle may be connected to a plurality of Network nodes via a Controller Area Network (CAN) bus, so as to implement data transmission between the control node and the Network nodes. For example, the network node may be a sensor (e.g., a temperature sensor, a pressure sensor, etc.), and the Control node may be an Electronic Control Unit (ECU) of the vehicle. The ECU is connected with the sensors through the CAN bus to acquire data acquired by the sensors, and then controls the vehicle according to the data acquired by the sensors.
In the existing communication system, the connection mode between the network node and the control node is as follows: the control node is connected with a CAN bus, and the network nodes are connected to different positions of the CAN bus. However, in the existing communication system, if the CAN bus fails, data transmission between a part of network nodes and a control node may not be completed.
SUMMERY OF THE UTILITY MODEL
The utility model provides a communication system and a vehicle, which are used for solving the problem that data transmission between a network node and a control node is possibly impossible.
In a first aspect, the present invention provides a communication system, comprising: the system comprises a control node, a first CAN bus, a second communication cable and N network nodes, wherein N is an integer greater than or equal to 1;
the control node and the N network nodes are connected to a first CAN bus to form a first communication link; the N network nodes are connected in series through the second communication cable, and the control node is respectively connected with a first network node and a last network node in the N network nodes which are connected in series through the second communication cable to form a closed second communication link;
if a first CAN bus between the Mth network node and the Nth network node in the N network nodes has communication faults, the control node communicates with any network node from the M +1 th network node to the Nth network node through the second communication link, and communicates with any network node from the first network node to the Mth network node through the first CAN bus; wherein M is an integer greater than or equal to 1 and less than or equal to N.
Optionally, the control node includes a first communication interface and a second communication interface, and each of the network nodes includes a third communication interface and a fourth communication interface;
the first communication interface of the control node is connected with the fourth communication interface of the first network node in the N network nodes connected in series through the second communication cable, the third communication interface of the ith network node in any two adjacent network nodes in the N network nodes connected in series is connected with the fourth communication interface of the (i + 1) th network node through the second communication cable, and the third communication interface of the last network node in the N network nodes connected in series is connected with the second communication interface of the control node through the second communication cable to form the second communication link; wherein i is an integer less than N.
Optionally, the control node includes a fifth communication interface and a sixth communication interface, and each of the network nodes includes a seventh communication interface and an eighth communication interface;
the fifth communication interface of the control node is connected with the eighth communication interface of the first network node in the N network nodes connected in series through the first CAN bus, the seventh communication interface of the ith network node in any two adjacent network nodes in the N network nodes connected in series is connected with the eighth communication interface of the (i + 1) th network node through the first CAN bus, and the eighth communication interface of the last network node in the N network nodes connected in series is connected with the sixth communication interface of the control node through the first CAN bus to form the first communication link; wherein i is an integer less than N.
Optionally, the second communication cable is a second CAN bus.
Optionally, the first CAN bus is a high-speed CAN bus, and the second CAN bus is a low-speed CAN bus.
Optionally, the first communication interface, the second communication interface, the third communication interface, and the fourth communication interface are all communication interfaces corresponding to a low-speed CAN bus;
the fifth communication interface, the sixth communication interface, the seventh communication interface and the eighth communication interface are all communication interfaces corresponding to a high-speed CAN bus.
Optionally, the control node is an electronic control unit of a vehicle, and the network node is a collection device on the vehicle.
Optionally, the N network nodes include at least two types of acquisition devices.
Optionally, the communication system further includes: an output device; the output device is connected with the control node;
and the control node is used for outputting prompt information through the output device when a first CAN bus positioned between the Mth network node and the Nth network node of the N network nodes has communication faults.
In a second aspect, the utility model provides a vehicle comprising a communication system as claimed in any one of the first aspects.
According to the communication system and the vehicle provided by the utility model, the control node and each network node are connected to the first CAN bus, so that a first communication link CAN be obtained. Under the condition that the first CAN bus has no communication fault, the communication between the control node and any network node CAN be realized through the first communication link. The control node is connected with a first network node and a last network node in the N network nodes connected in series through a second communication cable to obtain a closed second communication link. By establishing the second communication link, even if the first CAN bus has communication faults, the communication between the control node and each network node CAN be carried out through the second communication link, and the smooth transmission of data between each network node and the control node is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed to be used in the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without inventive labor.
Fig. 1 is a schematic diagram of a conventional communication system;
fig. 2 is a schematic diagram of a communication system according to the present invention;
FIG. 3 is a block diagram of another communication system according to the present invention;
FIG. 4 is a block diagram of another communication system according to the present invention;
fig. 5 is a schematic diagram of a communication system according to another embodiment of the present invention.
Description of reference numerals:
11: a control node; 12: a first CAN bus;
13: a second communication cable; 14: a network node;
21: a first communication interface; 22: a second communication interface;
23: a third communication interface; 24: a fourth communication interface;
25: a fifth communication interface; 26: a sixth communication interface;
27: a seventh communication interface; 28: an eighth communication interface;
31: and an output device.
With the above figures, certain embodiments of the utility model have been illustrated and described in more detail below. The drawings and the description are not intended to limit the scope of the inventive concept in any way, but rather to illustrate it by those skilled in the art with reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic diagram of a conventional communication system. As shown in fig. 1, the communication system includes a control node, K network nodes, and a CAN bus. Wherein K is a positive integer. The control node is connected with one end of the CAN bus, and the network nodes are connected to different positions of the CAN bus. Through the connection mode, data transmission between the control node and the network node can be realized.
For example, the network node may be an electronic device in an engine electrical Control System, an automatic transmission Control System, an anti-lock Brake System (ABS), an Adaptive Cruise Control (ACC) System, an in-vehicle multimedia System, and the like. The Control node may be, for example, an ECU, a Vehicle Control Unit (VCU), or a Hybrid Control Unit (Hybrid Control Unit).
Illustratively, the type of the CAN bus may be a non-armored cable twisted pair shielding type cable, or an armored cable twisted pair shielding type cable, or the like, according to the structural type of the CAN bus. According to the communication rate division of the CAN bus, the CAN bus CAN be a high-speed CAN bus (also called a power CAN bus) or a low-speed CAN bus. Wherein, the high-speed CAN bus refers to the CAN bus with the communication rate of more than or equal to 125 kbits. A low speed CAN bus refers to a CAN bus with a communication rate less than 125 kilobits. The data transmission type of the CAN bus is divided according to the data type of the transmission data of the CAN bus, and the data transmission type of the CAN bus may be, for example: data frame data, remote control frame data (alternatively referred to as remote frame data), error frame data, or overload frame data, etc.
When data transmission between a control node and a network node is performed through an existing communication system, if a CAN bus in the communication system fails (for example, the CAN bus is broken), data transmission between a part of the network nodes and the control node may not be completed.
For example, as shown in fig. 1, assuming that the CAN bus fails at a point P between the network node 1 and the network node 2, the network node before the point P (i.e., the network node 1) may perform data transmission with the control node, and the network node after the point P (i.e., the network node 2 — the network node K) may not perform data transmission with the control node.
The reason for considering that the existing communication system has "a problem that may cause data between the network node and the control node to be unable to be transmitted" is: in the case of existing communication systems, in which only one CAN-bus is used for transmitting data between a network node and a control node, the utility model proposes a communication system comprising redundant communication cables. In the communication system, when a CAN bus in the communication system has a fault, the network nodes and the control nodes CAN transmit data through redundant communication cables in the communication system, so that the smooth transmission of the data between each network node and the control node is ensured.
The following is an example of applying the communication system provided by the present invention to a vehicle, and a detailed description is given of the technical solution of the present invention with reference to a specific embodiment. It should be understood that the application scenario of the communication system is not limited in the present invention, and in particular, the communication system may also be applied to other scenarios that use a CAN bus for communication, such as a ship, for example. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments.
Fig. 2 is a schematic diagram of a communication system according to the present invention. As shown in fig. 2, the communication system includes: a control node 11, a first CAN-bus 12, a second communication cable 13, and N network nodes 14. Wherein N is an integer greater than or equal to 1.
The control node 11 and the N network nodes 14 are connected to the first CAN bus 12 to form a first communication link. Wherein the N network nodes 14 are connected in series by a second communication cable 13. The control node 11 is connected to a first network node 14 and a last network node 14 of the N network nodes 14 connected in series via the second communication cable 13 to form a closed second communication link.
Alternatively, the control node 11 may be a control device having a processing function, such as the ECU, the VCU, or the HCU of the vehicle. The network node 14 may be, for example, a device in a system such as the ABS and the ACC, or a collection device installed in a vehicle. The first CAN bus 12 may be any type of CAN bus as described above.
When the network nodes 14 are vehicle-mounted collection devices, the types of the collection devices of the N network nodes 14 may be the same or different. That is, the N network nodes 14 may include one type of acquisition device, or at least two types of acquisition devices. Illustratively, the capturing device may be, for example, an image capturing device (e.g., a camera), a voice capturing device, a sensor, or the like.
The sensor may be, for example, a temperature sensor, a pressure sensor, an Air Flow sensor (or referred to as a Meter of Air Flow, MAF), a Throttle Position Sensor (TPS), an accelerator position sensor (TPS), a Knock Sensor (KS), an Air conditioner switch, a shift switch, or the like.
The second communication cable 13 may be any type of CAN bus as described above, i.e. the second communication cable 13 may be a second CAN bus. Alternatively, the second communication cable 13 may be, for example, another type of communication cable that enables communication between the control node 11 and the network node 14, which is not limited in the present invention.
Through the connection relationship between the control node 11 and each network node 14, when a communication fault occurs on the first CAN bus 12, communication between the control node 11 and each network node 14 is still enabled. Specifically, if a communication fault occurs in the first CAN bus 12 located between the "mth network node 14 to the nth network node 14" of the N network nodes 14, the control node 11 and any one network node 14 of the M +1 th network node 14 to the nth network node 14 may communicate through the second communication link. The control node 11 and any network node 14 between the first network node 14 to the mth network node 14 may communicate via the first CAN bus 12. Wherein M is an integer greater than or equal to 1 and less than or equal to N.
Optionally, the communication fault may be, for example, a short circuit or an open circuit of the CAN bus, or a fault such as attenuation or distortion of a communication signal caused by a change in physical property of a line.
If a communication failure occurs in the first CAN bus 12 located between the control node 11 and the 1 st network node 14 of the N network nodes 14, the control node 11 and any one of the 1 st network node 14 to the nth network node 14 may communicate through the second communication link.
Optionally, the control node 11 may send verification information to each network node 14 through the first CAN bus 12, and then determine whether a communication fault occurs in the first CAN bus 12 located between the mth network node 14 and the nth network node 14 of the N network nodes 14 according to a result of determining whether the feedback information of each network node 14 is received. The authentication information may include, for example, address information of each network node 14 in CAN communication with the control node 11. The feedback information may include, for example, sequence numbers of the network nodes 14 that sent the feedback information among the N network nodes 14.
Specifically, after the control node 11 sends the verification information to each network node 14 through the first CAN bus 12, if the feedback information of all the network nodes 14 is received, which indicates that the connections of the first CAN buses 12 between the control node 11 and all the network nodes 14 are normal, the control node 11 may determine that the first CAN bus 12 located between the mth network node 14 and the nth network node 14 of the N network nodes 14 has no communication fault. The above-mentioned N network nodes and the control node 11 may continue to communicate via this first CAN-bus 12.
If the control node 11 does not receive the feedback information of the mth network node 14 to the nth network node 14 of the N network nodes 14, the control node 11 may determine that a communication fault occurs in the first CAN bus 12 between the M-1 st network node 14 to the mth network node 14 of the N network nodes 14. The control node 11 and any network node 14 of the M +1 th network node 14 to the nth network node 14 may communicate via the second communication link described above. The control node 11 and any network node 14 between the first network node 14 to the mth network node 14 may communicate via the first CAN bus 12.
For example, as shown in fig. 2, when M is equal to 1, assuming that the first CAN-bus 12 shown in fig. 2 is broken at point Q, the control node 11 and the 1 st network node 14 may communicate through the first CAN-bus 12. The control node 11 and any network node 14 of the 2 nd network node 14 to the nth network node 14 may communicate through the second communication link described above. When M equals 2, the control node 11 and the 1 st and 2 nd network nodes 14, 14 CAN communicate via the first CAN-bus 12, assuming that the first CAN-bus 12 shown in fig. 2 is open at point R. The control node 11 and any network node 14 of the 3 rd network node 14 to the nth network node 14 may communicate via the second communication link described above. If the first CAN-bus 12 is disconnected at point S as shown in fig. 2, the control node 11 and any network node 14 from the 1 st network node 14 to the nth network node 14 may communicate via the second communication link.
In this embodiment, the control node 11 and the network nodes 14 are connected to a first CAN-bus 12, which makes available a first communication link. In the absence of a communication failure of the first CAN-bus 12, communication between the control node 11 and any network node 14 CAN be achieved via the first communication link. The control node 11 is connected via a second communication cable 13 to a first network node 14 and, finally, to a last network node 14 of the N network nodes in series, resulting in a closed second communication link. By establishing the second communication link, even if the first CAN bus 12 has a communication failure, the communication between the control node 11 and each network node CAN be performed through the second communication link, thereby ensuring smooth transmission of data between each network node and the control node.
The connection between the control node 11 and the network node 14 in the second communication link, and the connection between the network node 14 and the network node 14 will be described in detail below. As a possible implementation manner, fig. 3 is a schematic architecture diagram of another communication system provided by the present invention. As shown in fig. 3, the control node 11 may comprise a first communication interface 21 and a second communication interface 22. Each network node 14 described above may comprise a third communication interface 23 and a fourth communication interface 24.
In this implementation, as shown in fig. 3, the first communication interface 21 of the control node 11 is connected to the fourth communication interface 24 of the first network node 14 of the series of N network nodes 14 via the second communication cable 13. In any two adjacent network nodes 14 of the N network nodes 14 connected in series, the third communication interface 23 of the ith network node 14 is connected to the fourth communication interface 24 of the (i + 1) th network node 14 through the second communication cable 13. The third communication interface 23 of the last network node 14 of the series of N network nodes 14 is connected to the second communication interface 22 of the control node 11 via the second communication cable 13. Through the connection mode, the second communication link can be formed. Wherein i is an integer less than N.
Under the above implementation manner, as a possible implementation manner, fig. 4 is a schematic diagram of an architecture of another communication system provided by the present invention. As shown in fig. 4, the control node 11 may further comprise a fifth communication interface 25 and a sixth communication interface 26. Each network node 14 may also include a seventh communication interface 27 and an eighth communication interface 28. The first communication link may be obtained from the fifth communication interface 25, the sixth communication interface 26, the seventh communication interface 27, the eighth communication interface 28, and the first CAN bus 12.
In particular, the fifth communication interface 25 of the control node 11 may be connected to the eighth communication interface 28 of the first network node 14 of the series of N network nodes 14 via the first CAN bus 12. The seventh communication interface 27 of the i-th network node 14 of any two adjacent network nodes 14 of the N network nodes 14 connected in series may be connected to the eighth communication interface 28 of the i + 1-th network node 14 through the first CAN bus 12. The seventh communication interface 27 of the last network node 14 of the series of N network nodes 14 may be connected to the sixth communication interface 26 of the control node 11 via the first CAN-bus 12. Through the above connection manner, the first communication link may be formed.
Taking the second communication cable 13 as the second CAN bus as an example, optionally, the first CAN bus 12 may be a high-speed CAN bus, and the second CAN bus may be a low-speed CAN bus. Alternatively, the first CAN bus 12 is a low-speed CAN bus and the second CAN bus is a high-speed CAN bus.
Taking the first CAN bus 12 as a high-speed CAN bus and the second communication cable 13 as a low-speed CAN bus as an example, in this implementation manner, the first communication interface 21, the second communication interface 22, the third communication interface 23, and the fourth communication interface 24 are all communication interfaces corresponding to the low-speed CAN bus. The fifth communication interface 25, the sixth communication interface 26, the seventh communication interface 27, and the eighth communication interface 28 are all communication interfaces corresponding to a high-speed CAN bus.
It should be understood that the present invention does not limit the types of the first communication interface 21, the second communication interface 22, the third communication interface 23, the fourth communication interface 24, the fifth communication interface 25, the sixth communication interface 26, the seventh communication interface 27, and the eighth communication interface 28. Optionally, the types of the communication interfaces may be the same or different. Illustratively, the communication interface may be a 9-pin D-port, a 15-pin D-port, or a Registered Jack (RJ 45) interface, for example.
Further, as a possible implementation manner, fig. 5 is a schematic architecture diagram of another communication system provided by the present invention. As shown in fig. 5, the communication system may further include an output device 31 for outputting a prompt message when a communication fault occurs on the first CAN bus, so that a user CAN timely find that the communication fault occurs on the first CAN bus.
In particular, the output means 31 is connected to the control node 11. In this implementation, the control node 11 is configured to output a prompt message through the output device 31 when a communication failure occurs on the first CAN bus 12 located between the mth network node 14 and the nth network node 14 of the N network nodes 14. Alternatively, when the control node 11 determines that the first CAN bus 12 has a communication failure, a prompt message indicating that the first CAN bus 12 has a communication failure may be sent to the output device 31. The output device 31 may output the prompt message after receiving the prompt message.
Alternatively, the output device 31 and the control node 11 may be connected by a CAN bus. Alternatively, the output device 31 and the control node 11 may be connected by another communication cable, which is not limited in the present invention.
The output device 31 may be, for example, a display device or a voice output device on the vehicle. The display device may be, for example, a display screen of a device in a vehicle. Taking the output device 31 as an example as a display device, when receiving the prompt message sent by the control node 11, the output device 31 can display the content of the prompt message. Taking the output device 31 as a voice output device as an example, when receiving the prompt message sent by the control node 11, the output device 31 can perform voice broadcast on the content of the prompt message.
For example, the content of the prompt message may be a text or voice prompt message such as "CAN bus communication failure" or "CAN bus failure". Alternatively, the output device 31 is exemplified as a display device, and the output device 31 may display an animation indicating that a communication failure has occurred in the first CAN bus 12.
If the control node 11 CAN also be used to determine the location of the communication failure of the first CAN-bus 12, the location of the communication failure on the first CAN-bus 12 CAN also be output via the output device 31. Specifically, if the control node 11 does not receive the feedback information of the mth network node 14 to the nth network node 14 of the N network nodes 14, the control node 11 may determine that a communication fault occurs in the first CAN bus 12 located between the M-1 st network node 14 to the mth network node 14 of the N network nodes 14.
If the network node 14 corresponding to the feedback information that the control node 11 cannot receive is not continuous among the N network nodes 14, it may be that the network node 14 fails to send the feedback information. That is, there may be a communication failure with the network node 14. The control node 11 may then determine the sequence number of the network node 14 that did not send out feedback information among the N network nodes 14. In this implementation, optionally, the output device may further output an identifier of the network node 14 with the communication failure, so that a user may determine the network node with the communication failure.
In this embodiment, when the first CAN bus 12 has a communication fault, the control node 11 may output a prompt message through the output device 31, so that a user may find that the first CAN bus 12 has the communication fault in time, and the safety of vehicle driving is improved.
The utility model also provides a vehicle comprising a communication system as described in any of the previous embodiments.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A communication system, the communication system comprising: the system comprises a control node, a first CAN bus, a second communication cable and N network nodes, wherein N is an integer greater than or equal to 1;
the control node and the N network nodes are connected to a first CAN bus to form a first communication link; the N network nodes are connected in series through the second communication cable, and the control node is respectively connected with a first network node and a last network node in the N network nodes which are connected in series through the second communication cable to form a closed second communication link;
if a first CAN bus between the Mth network node and the Nth network node in the N network nodes has communication faults, the control node communicates with any network node from the M +1 th network node to the Nth network node through the second communication link, and communicates with any network node from the first network node to the Mth network node through the first CAN bus; wherein M is an integer greater than or equal to 1 and less than or equal to N.
2. The communication system according to claim 1, wherein the control node comprises a first communication interface and a second communication interface, and each of the network nodes comprises a third communication interface and a fourth communication interface;
the first communication interface of the control node is connected with the fourth communication interface of the first network node in the N network nodes connected in series through the second communication cable, the third communication interface of the ith network node in any two adjacent network nodes in the N network nodes connected in series is connected with the fourth communication interface of the (i + 1) th network node through the second communication cable, and the third communication interface of the last network node in the N network nodes connected in series is connected with the second communication interface of the control node through the second communication cable to form the second communication link; wherein i is an integer less than N.
3. The communication system according to claim 2, wherein the control node comprises a fifth communication interface and a sixth communication interface, and each of the network nodes comprises a seventh communication interface and an eighth communication interface;
the fifth communication interface of the control node is connected with the eighth communication interface of the first network node in the N network nodes connected in series through the first CAN bus, the seventh communication interface of the ith network node in any two adjacent network nodes in the N network nodes connected in series is connected with the eighth communication interface of the (i + 1) th network node through the first CAN bus, and the seventh communication interface of the last network node in the N network nodes connected in series is connected with the sixth communication interface of the control node through the first CAN bus to form the first communication link.
4. The communication system of claim 3, wherein the second communication cable is a second CAN bus.
5. The communication system of claim 4, wherein the first CAN bus is a high speed CAN bus and the second CAN bus is a low speed CAN bus.
6. The communication system according to claim 5, wherein the first communication interface, the second communication interface, the third communication interface, and the fourth communication interface are all communication interfaces corresponding to a low-speed CAN bus;
the fifth communication interface, the sixth communication interface, the seventh communication interface and the eighth communication interface are all communication interfaces corresponding to a high-speed CAN bus.
7. A communication system according to any of claims 1-3, wherein the control node is an electronic control unit of a vehicle and the network node is a collection device on the vehicle.
8. The communication system according to claim 7, wherein the N network nodes comprise at least two types of acquisition devices.
9. A communication system according to any of claims 1-3, characterized in that the communication system further comprises: an output device; the output device is connected with the control node;
and the control node is used for outputting prompt information through the output device when a first CAN bus positioned between the Mth network node and the Nth network node of the N network nodes has communication faults.
10. A vehicle, characterized in that the vehicle comprises a communication system according to any of claims 1-9.
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| CN202121802518.9U CN215642301U (en) | 2021-08-04 | 2021-08-04 | Communication system and vehicle |
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| CN202121802518.9U CN215642301U (en) | 2021-08-04 | 2021-08-04 | Communication system and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116566807A (en) * | 2023-06-28 | 2023-08-08 | 克诺尔车辆设备(苏州)有限公司 | Controller local area network detection system, detection method and brake system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116566807A (en) * | 2023-06-28 | 2023-08-08 | 克诺尔车辆设备(苏州)有限公司 | Controller local area network detection system, detection method and brake system |
| CN116566807B (en) * | 2023-06-28 | 2024-02-06 | 克诺尔车辆设备(苏州)有限公司 | Controller local area network detection system, detection method and brake system |
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